#ifndef __PID_H__
#define __PID_H__

typedef struct{
	float kp,ki,kd;
    float err,lastErr;
    float integral,maxIntegral; 
    float output,maxOutput;
}PID_Set;

void PID_Init(PID_Set * pid,float Kp,float Ki,float Kd,float maxI,float maxO);
float PID_value(PID_Set* pid, float target, float current);
#endif
